mirror of https://github.com/ArduPilot/ardupilot
76 lines
3.4 KiB
C
76 lines
3.4 KiB
C
#include "builtin_interfaces/msg/Time.h"
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#include "sensor_msgs/msg/NavSatFix.h"
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#include "tf2_msgs/msg/TFMessage.h"
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#include "sensor_msgs/msg/BatteryState.h"
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#include "AP_DDS_Generic_Fn_T.h"
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#include "uxr/client/client.h"
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// Code generated table based on the enabled topics.
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// Mavgen is using python, loops are not readable.
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// Can use jinja to template (like Flask)
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const struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
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{
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.topic_id = 0x01,
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.pub_id = 0x01,
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.dw_id = uxrObjectId{.id=0x01, .type=UXR_DATAWRITER_ID},
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.topic_profile_label = "time__t",
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.dw_profile_label = "time__dw",
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.serialize = Generic_serialize_topic_fn_t(&builtin_interfaces_msg_Time_serialize_topic),
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.deserialize = Generic_deserialize_topic_fn_t(&builtin_interfaces_msg_Time_deserialize_topic),
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.size_of = Generic_size_of_topic_fn_t(&builtin_interfaces_msg_Time_size_of_topic),
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},
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{
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.topic_id = 0x02,
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.pub_id = 0x02,
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.dw_id = uxrObjectId{.id=0x02, .type=UXR_DATAWRITER_ID},
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.topic_profile_label = "navsatfix0__t",
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.dw_profile_label = "navsatfix0__dw",
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.serialize = Generic_serialize_topic_fn_t(&sensor_msgs_msg_NavSatFix_serialize_topic),
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.deserialize = Generic_deserialize_topic_fn_t(&sensor_msgs_msg_NavSatFix_deserialize_topic),
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.size_of = Generic_size_of_topic_fn_t(&sensor_msgs_msg_NavSatFix_size_of_topic),
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},
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{
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.topic_id = 0x03,
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.pub_id = 0x03,
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.dw_id = uxrObjectId{.id=0x03, .type=UXR_DATAWRITER_ID},
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.topic_profile_label = "statictransforms__t",
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.dw_profile_label = "statictransforms__dw",
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.serialize = Generic_serialize_topic_fn_t(&tf2_msgs_msg_TFMessage_serialize_topic),
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.deserialize = Generic_deserialize_topic_fn_t(&tf2_msgs_msg_TFMessage_deserialize_topic),
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.size_of = Generic_size_of_topic_fn_t(&tf2_msgs_msg_TFMessage_size_of_topic),
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},
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{
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.topic_id = 0x04,
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.pub_id = 0x04,
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.dw_id = uxrObjectId{.id=0x04, .type=UXR_DATAWRITER_ID},
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.topic_profile_label = "batterystate0__t",
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.dw_profile_label = "batterystate0__dw",
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.serialize = Generic_serialize_topic_fn_t(&sensor_msgs_msg_BatteryState_serialize_topic),
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.deserialize = Generic_deserialize_topic_fn_t(&sensor_msgs_msg_BatteryState_deserialize_topic),
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.size_of = Generic_size_of_topic_fn_t(&sensor_msgs_msg_BatteryState_size_of_topic),
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},
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{
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.topic_id = 0x05,
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.pub_id = 0x05,
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.dw_id = uxrObjectId{.id=0x05, .type=UXR_DATAWRITER_ID},
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.topic_profile_label = "localpose__t",
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.dw_profile_label = "localpose__dw",
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.serialize = Generic_serialize_topic_fn_t(&geometry_msgs_msg_PoseStamped_serialize_topic),
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.deserialize = Generic_deserialize_topic_fn_t(&geometry_msgs_msg_PoseStamped_deserialize_topic),
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.size_of = Generic_size_of_topic_fn_t(&geometry_msgs_msg_PoseStamped_size_of_topic),
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},
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{
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.topic_id = 0x06,
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.pub_id = 0x06,
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.dw_id = uxrObjectId{.id=0x06, .type=UXR_DATAWRITER_ID},
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.topic_profile_label = "localvelocity__t",
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.dw_profile_label = "localvelocity__dw",
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.serialize = Generic_serialize_topic_fn_t(&geometry_msgs_msg_TwistStamped_serialize_topic),
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.deserialize = Generic_deserialize_topic_fn_t(&geometry_msgs_msg_TwistStamped_deserialize_topic),
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.size_of = Generic_size_of_topic_fn_t(&geometry_msgs_msg_TwistStamped_size_of_topic),
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}
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};
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